//
// Created by DELL on 2023/12/11.
//

#include "motor_test_task.h"
static float ecd;
void motor_test_task(void *argument){
  // DJI_motor dji_motor_test(&hcan2, nullptr, 1, DJI_M3508, 1);
//    static LK_motor lk_motor1_test(&hcan1,nullptr, 0,1,ms_6015);
//           LK_motor lk_motor2_test(&hcan1,nullptr, 0,2, ms_6015);
//           LK_motor lk_motor3_test(&hcan1,nullptr, 0,3, ms_6015);
//           LK_motor lk_motor4_test(&hcan1,nullptr, 0,4, ms_6015);
//    lk_motor1_test.velPid.pid_reset(1.0f,0.1f,5,0,0);
//    lk_motor1_test.posPid.pid_reset(1.0f,0.1f,6,0,0);
//    lk_motor2_test.velPid.pid_reset(1.0f,0.1f,4,0,0);
//    lk_motor2_test.posPid.pid_reset(1.0f,0.1f,4,0,0);
//    lk_motor3_test.velPid.pid_reset(1.0f,0.1f,1.5f,0,0);
//    lk_motor3_test.posPid.pid_reset(1.0f,0.1f,2,0.002f,0);
//    lk_motor4_test.velPid.pid_reset(1.0f,0.1f,1.1f,0,0);
//    lk_motor4_test.posPid.pid_reset(1.0f,0.1f,1.3f,0.001f,0);

//    DM_motor dm_motor_test(&hcan1,nullptr,0x000,0x001);
//    pwm_motor pwm_motor_test(&htim1,TIM_CHANNEL_2);

    for(;;){

//        dji_motor_test.motor_set_speed(-0.1);
//        dji_motor_test.motor_set_rounds(0.5);
//lk_motor1_test.motor_set_current(0);
//        lk_motor1_test.motor_set_speed(0.1);
//        lk_motor1_test.motor_set_rounds(0);
//        lk_motor1_test.motor_set_rounds(0);
//        lk_motor2_test.motor_set_rounds(0);
//        lk_motor3_test.motor_set_rounds(0);
//        lk_motor4_test.motor_set_rounds(0);
//        lk_motor_test.motor_set_rounds(0.125);
//ecd=lk_motor_test.motor_get_ecd();
//        dm_motor_test.motor_set_speed(0.1);
//        dm_motor_test.motor_set_rounds(0);
//        pwm_motor_test.motor_set_speed(0.5);
        osDelay(1);
    }
}
